Commit Graph

56 Commits

Author SHA1 Message Date
rmackay9
e13cea03ea ArduCopter: restore auto-trim method but now use AHRS.add_trim 2012-12-20 00:06:20 +09:00
rmackay9
c1abd96ef2 ArduCopter: limit output throttle to 800 only for TRI which does not have the new stability patch 2012-12-17 15:29:11 +09:00
rmackay9
7b4f311f28 ArduCopter: remove throttle limit of 800 for quads, hexas and octacopters
Note: Y6 and OctaQuads still have the 800 limit because they do not have the latest stability patch
2012-12-13 20:30:23 +09:00
rmackay9
2e78977499 ArduCopter: bug fix so AP_Limits does not use up memory if it is disabled 2012-12-13 16:07:34 +09:00
rmackay9
eb3ad15843 ArduCopter: allow INERTIAL_NAV to be enabled separately for horizontal and vertical position 2012-12-06 10:31:41 +09:00
Robert Lefebvre
069749e49c ACM: TradHeli
Prevent helis from arming while RSC control is switched on.
2012-11-26 19:03:28 -05:00
Robert Lefebvre
31ea32dc9c ACM: TradHeli
Removing this "throttle" output restriction for TradHelis.
2012-11-26 18:44:03 -05:00
Andrew Tridgell
76e9adb8d4 ACM: make it possible to run CLI on radio port in ArduCopter 2012-11-21 21:41:34 +11:00
rmackay9
eb25b917ad ArduCopter: renamed system bitmap to ap_system to resolve desktop compile issues 2012-11-11 22:42:10 +09:00
Jason Short
a7360af180 ACM formatting 2012-11-09 22:15:16 -08:00
Jason Short
3e905ec750 Ap state updates 2012-11-09 22:15:15 -08:00
rmackay9
af40201b14 ArduCopter: incorporate new version of inertial navigation
Moved several navigation functions from ArduCopter.pde to navigation.pde
2012-11-07 19:21:31 +09:00
rmackay9
0868917ff4 ArduCopter: move to use new INS library instead of IMU library 2012-11-07 19:21:09 +09:00
rmackay9
0050232ae2 ArduCopter: failsafe added to shutdown motors if mainloop fails 2012-10-09 12:30:17 +09:00
rmackay9
fc4f4d76c9 ArduCopter: allow DMP to run in parallel with DCM
Parallel DMP can be enabled by #define SECONDARY_DMP_ENABLED in APM_Config.h
New DMP dataflash log type added to allow easy comparison with DCM
2012-09-30 00:25:40 +09:00
uncrustify
700e03920a uncrustify ArduCopter/motors.pde 2012-08-21 19:19:50 -07:00
Andrew Tridgell
878bcab4cf ACM: use ahrs.set_fast_gains() on arm/disarm 2012-08-21 15:38:31 +10:00
Jason Short
df01d5acd7 ACM : removed 2-level DCM gain change - .1 will still be the default. 2012-08-18 15:43:34 -07:00
Jason Short
89784b99cf ACM : Fix for reloading the user DCM gains upon arming 2012-08-18 13:17:43 -07:00
Jason Short
21f9b7e531 ACM : temp fix for throttle output limit
I had a bad crash when I lost authority. The logs showed the throttle pegged at 1000 which killed my control. We went round and round on this and somehow settled on no limit. That wasn't a good idea. This should really be hard coded into the Motors Library, but for now I'm just sticking it here.
2012-08-18 09:04:22 -07:00
rmackay9
0dc3b23b59 ArduCopter: fixed small bug re arming_counter for TOY mode 2012-08-18 13:21:41 +09:00
rmackay9
48b7d26c5d ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
2012-08-16 20:04:46 +09:00
Jason Short
abe7a12fba ACM : Added check for second Toy mode 2012-08-11 22:37:26 -07:00
Andrew Tridgell
8c0eeee3dc ACM: allow users to set the AHRS_YAW_P and AHRS_RP_P
the forced set left users with parameters they couldn't use
2012-08-11 08:35:10 +10:00
Jason Short
a199669b61 ACM Motors.pde
Added Toy mode options,
Added DCM kp set to .1(armed) and .8 (disarmed)
2012-08-09 16:59:44 -07:00
Jason Short
34945b4e38 ACM: Failsafe Fix for Mission planner initiated AUTO mode
Keeps the failsafe from exiting Auto mode when returning from failsafe. Added arming ability for Toy mode.
2012-07-23 19:34:25 -07:00
Jason Short
6528aba386 Arducopter: motors.pde formatting 2012-07-19 22:35:21 -07:00
Jason Short
4c44dda7e8 Arducopter: INS
removed calibrate accels for now
2012-07-18 22:57:10 -07:00
Andreas M. Antonopoulos
31fd74d94c AP_Limits library, provides modular "limits" such as altitude and geo-fencing. 2012-07-14 19:26:17 -07:00
Jason Short
6dc1e02f76 Inertial Control
I added inertial navigation based on the simulator data. This is an option only available if you compile with Arduino and set
#define INERTIAL_NAV ENABLED
in the APM_Config.h file.

This has been tested for one real flight and did not crash my quad, but consider it very alpha. The quad may be unpredictable at first until the error correction fixes poorly calibrated accels. Be Careful.

Most of the real work is in the inertia file, but the error correction, new variable defines and calibration calls are sprinkled throughout.

The Log should record RAW messages with special debugging values.
2012-06-13 22:34:45 -07:00
Robert Lefebvre
df4246597f Updates to CopterLEDS
Creation of Nav Blink Function.
2012-05-22 09:58:37 -04:00
Robert Lefebvre
a9349a6e87 More CopterLEDS changes.
Merged CopterLEDS and Piezo functions to eliminate pin conflict on APM2.  Created new Parameter bit to turn piezo function on and off from MP. Moved GPS and Aux pin assignments to allow commonality between APM1 and 2.  Set LED_Mode parameter default to 9 in order to make CopterLEDS completely backwards compatible with old Motor LEDS and Piezo code.  Legacy users should see no difference.
2012-05-15 12:00:21 -04:00
rmackay9
0f4203a755 ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class.
Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
2012-04-04 22:58:42 +09:00
Andrew Tridgell
0985327331 ACM: use set_blocking_writes(false) when we arm motors 2012-03-30 17:46:20 +11:00
Jason Short
8fcb2931d7 Cosmetic changes
GPS LED lock waits for home_is_set to be true
2012-01-28 21:19:46 -08:00
Jason Short
9c912b2573 reset all I terms at Arming 2012-01-20 22:52:30 -08:00
Jason Short
7e411f5fb6 This allows users to test the Auto_throttle hold or cruise value 2012-01-14 11:43:52 -08:00
Pat Hickey
b8b6e3c25b ArduCopter: add ch_of_mot lookup to motors.pde 2012-01-09 21:57:02 -08:00
Jason Short
1883d0c1a8 Added takeoff state and ground state variable 2012-01-04 09:28:36 -08:00
Andrew Tridgell
0f39336801 ACM: use LED_OFF/LED_ON instead of LOW/HIGH 2011-12-26 19:32:53 +11:00
Jason Short
fa2fa37f3b initing z dampener at arming 2011-12-23 14:46:08 -08:00
Andrew Tridgell
c007fb49b8 IMU: update ACM and APM for flash_leds change in IMU init 2011-12-13 18:19:41 +11:00
Jason Short
718af404ed Increased slightly the Auto_trim time 2011-12-10 10:19:20 -08:00
Jason Short
2e0b55d887 Cosmetic cleanup, commented functions for compiler warnings 2011-11-27 22:23:02 -08:00
Andrew Tridgell
6c57cda17a desktop: report motors armed in desktop build too
this helps in autotest
2011-11-25 20:00:19 -08:00
Jason Short
34a53f6f7d Removed some old debug prints from motors.pde
added ability to not increment I term for traversals.
2011-11-07 14:32:39 -08:00
Jason Short
80c7e135d5 renamed some command variables to align with Arduplane
reworked the arming code and moved the DCM gains out.
updated climb_rate to include sonar data.
2011-11-04 21:41:51 -07:00
Jason Short
7b88499579 Z dampener
Integrated Aurelio R. Ramos' Z dampening code.
2011-11-01 21:18:47 -07:00
Jason Short
4ee8d52db0 Motor arming delays
Speeding up delays for motor arming commands - Level and Inflight leveling.
2011-10-27 11:54:46 -07:00
Jason Short
a37d95634a lowered DCM RP gains
made Instant_PWM optional
upped PWM output to 400hz
2011-10-11 22:20:23 -07:00